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Robust Force Control Strategy based on Virtual Environment

Abstract : The main goal of this paper is to present a force control strategy based on the Virtual Environment concept. This concept is a way to increase the robustness of force control schemes with respect to a variation of the environment characteristics. We first propose this approach, then we analyze it, and finally we adapt it to a classical external force control scheme. Experimental results with a DELTA fast parallel robot are presented to prove the efficiency of this method.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00139499
Contributor : Philippe Fraisse Connect in order to contact the contributor
Submitted on : Saturday, March 31, 2007 - 4:07:21 PM
Last modification on : Tuesday, October 19, 2021 - 9:06:50 PM

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Philippe Fraisse, François Pierrot, Pierre Dauchez. Robust Force Control Strategy based on Virtual Environment. Advanced Robotics, Taylor & Francis, 2007, 21, pp.485-498. ⟨10.1163/156855307780132018⟩. ⟨lirmm-00139499⟩

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